| 1 | // |
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| 2 | // Redistribution and use in source and binary forms, with or without |
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| 3 | // modification, are permitted provided that the following conditions |
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| 4 | // are met: |
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| 5 | // * Redistributions of source code must retain the above copyright |
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| 6 | // notice, this list of conditions and the following disclaimer. |
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| 7 | // * Redistributions in binary form must reproduce the above copyright |
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| 8 | // notice, this list of conditions and the following disclaimer in the |
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| 9 | // documentation and/or other materials provided with the distribution. |
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| 10 | // * Neither the name of NVIDIA CORPORATION nor the names of its |
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| 11 | // contributors may be used to endorse or promote products derived |
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| 12 | // from this software without specific prior written permission. |
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| 13 | // |
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| 14 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY |
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| 15 | // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 16 | // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR |
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| 17 | // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR |
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| 18 | // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, |
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| 19 | // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, |
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| 20 | // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR |
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| 21 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY |
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| 22 | // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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| 23 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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| 24 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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| 25 | // |
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| 26 | // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved. |
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| 27 | // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. |
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| 28 | // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. |
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| 29 | |
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| 30 | #ifndef PXFOUNDATION_PXMATHUTILS_H |
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| 31 | #define PXFOUNDATION_PXMATHUTILS_H |
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| 32 | |
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| 33 | /** \addtogroup common |
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| 34 | @{ |
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| 35 | */ |
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| 36 | |
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| 37 | #include "foundation/Px.h" |
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| 38 | #include "foundation/PxFoundationConfig.h" |
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| 39 | #include "foundation/PxPlane.h" |
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| 40 | #include "foundation/PxTransform.h" |
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| 41 | |
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| 42 | #if !PX_DOXYGEN |
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| 43 | namespace physx |
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| 44 | { |
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| 45 | #endif |
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| 46 | |
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| 47 | /** |
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| 48 | \brief finds the shortest rotation between two vectors. |
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| 49 | |
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| 50 | \param[in] from the vector to start from |
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| 51 | \param[in] target the vector to rotate to |
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| 52 | \return a rotation about an axis normal to the two vectors which takes one to the other via the shortest path |
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| 53 | */ |
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| 54 | PX_FOUNDATION_API PxQuat PxShortestRotation(const PxVec3& from, const PxVec3& target); |
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| 55 | |
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| 56 | /* \brief diagonalizes a 3x3 symmetric matrix y |
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| 57 | |
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| 58 | The returned matrix satisfies M = R * D * R', where R is the rotation matrix for the output quaternion, R' its |
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| 59 | transpose, and D the diagonal matrix |
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| 60 | |
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| 61 | If the matrix is not symmetric, the result is undefined. |
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| 62 | |
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| 63 | \param[in] m the matrix to diagonalize |
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| 64 | \param[out] axes a quaternion rotation which diagonalizes the matrix |
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| 65 | \return the vector diagonal of the diagonalized matrix. |
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| 66 | */ |
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| 67 | PX_FOUNDATION_API PxVec3 PxDiagonalize(const PxMat33& m, PxQuat& axes); |
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| 68 | |
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| 69 | /** \brief creates a transform from the endpoints of a segment, suitable for an actor transform for a PxCapsuleGeometry |
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| 70 | |
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| 71 | \param[in] p0 one end of major axis of the capsule |
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| 72 | \param[in] p1 the other end of the axis of the capsule |
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| 73 | \param[out] halfHeight the halfHeight of the capsule. This parameter is optional. |
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| 74 | \return A PxTransform which will transform the vector (1,0,0) to the capsule axis shrunk by the halfHeight |
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| 75 | */ |
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| 76 | PX_FOUNDATION_API PxTransform PxTransformFromSegment(const PxVec3& p0, const PxVec3& p1, PxReal* halfHeight = NULL); |
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| 77 | |
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| 78 | /** \brief creates a transform from a plane equation, suitable for an actor transform for a PxPlaneGeometry |
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| 79 | |
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| 80 | \param[in] plane the desired plane equation |
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| 81 | \return a PxTransform which will transform the plane PxPlane(1,0,0,0) to the specified plane |
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| 82 | */ |
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| 83 | PX_FOUNDATION_API PxTransform PxTransformFromPlaneEquation(const PxPlane& plane); |
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| 84 | |
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| 85 | /** \brief creates a plane equation from a transform, such as the actor transform for a PxPlaneGeometry |
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| 86 | |
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| 87 | \param[in] transform the transform |
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| 88 | \return the plane |
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| 89 | */ |
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| 90 | PX_INLINE PxPlane PxPlaneEquationFromTransform(const PxTransform& transform) |
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| 91 | { |
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| 92 | return transform.transform(plane: PxPlane(1.f,0.f,0.f,0.f)); |
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| 93 | } |
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| 94 | |
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| 95 | |
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| 96 | #if !PX_DOXYGEN |
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| 97 | } // namespace physx |
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| 98 | #endif |
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| 99 | |
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| 100 | /** @} */ |
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| 101 | #endif |
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| 102 | |
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